Merge branch 'feat/#348-use-lanelet2-extension-python' into feat/upda…

…te-galactic
tier4 · Feb 9, 2024 · 579efe1 · 579efe1
2 parents 1a930ea + cfdd65b
commit 579efe1
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Showing 152 changed files with 317,219 additions and 110,343 deletions.
diff --git a/.driving_log_replayer.cspell.json b/.driving_log_replayer.cspell.json
@@ -23,6 +23,12 @@
     "Koji",
     "Minoda",
     "pyproject",
-    "interp"
+    "interp",
+    "CENTERDISTANCE",
+    "nums",
+    "pydantic",
+    "Kotaro",
+    "Uetake",
+    "conlist"
   ]
 }
diff --git a/.github/workflows/colcon-test.yaml b/.github/workflows/colcon-test.yaml
@@ -9,7 +9,7 @@ on:
   workflow_dispatch:
 
 jobs:
-  test_environment:
+  build-and-test:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
@@ -25,7 +25,7 @@ jobs:
       image: ${{ matrix.docker_image }}
     steps:
       - name: Cancel Previous Runs
-        uses: styfle/cancel-workflow-action@0.11.0
+        uses: styfle/cancel-workflow-action@0.12.1
         with:
           access_token: ${{ secrets.GITHUB_TOKEN }}
 
@@ -37,17 +37,17 @@ jobs:
       - name: Search packages in this repository
         id: list_packages
         run: |
-          echo ::set-output name=package_list::$(colcon list --names-only)
+          echo package_list=$(colcon list --names-only | sed -e ':loop; N; $!b loop; s/\n/ /g') >> $GITHUB_OUTPUT
 
       - name: Setup ROS environment
-        uses: ros-tooling/[email protected].0
+        uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
       - name: build and test
-        uses: ros-tooling/[email protected].3
+        uses: ros-tooling/[email protected].6
         with:
           package-name: ${{ steps.list_packages.outputs.package_list }}
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: github_action_dependency.repos
+          vcs-repo-file-url: dependency.repos
           import-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -14,7 +14,8 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Setup Python
+        uses: actions/setup-python@v3
+
       - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
-        with:
-          pre-commit-config: .pre-commit-config.yaml
+        uses: pre-commit/[email protected]
diff --git a/.github/workflows/sync-release-notes.yaml b/.github/workflows/sync-release-notes.yaml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -3,7 +3,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-json
         exclude: \.vscode/
@@ -19,18 +19,18 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.33.0
+    rev: v0.39.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix, -i, CONTRIBUTING.md]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.0.0-alpha.6
+    rev: v3.1.0
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.30.0
+    rev: v1.34.0
     hooks:
       - id: yamllint
 
@@ -44,30 +44,30 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.9.0.6
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-2
+    rev: v3.7.0-4
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.284
+    rev: v0.2.1
     hooks:
       - id: ruff
         args: [--fix]
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.1.1
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.0
+    rev: v17.0.6
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]

diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -20,13 +20,13 @@
       "console": "integratedTerminal",
       "args": [
         "-p",
-        "$HOME/out/perception/latest/sample/f72e1065-7c38-40fe-a4e2-c5bbe6ff6443/result_archive/scene_result.pkl",
+        "$HOME/out/oss_perception/latest/sample/sample_dataset/result_archive/scene_result.pkl",
         "-s",
-        "$HOME/data/perception/sample/scenario.yaml",
+        "$HOME/data/oss_perception/sample/scenario.yaml",
         "-d",
-        "$HOME/data/perception/sample/t4_dataset/f72e1065-7c38-40fe-a4e2-c5bbe6ff6443",
+        "$HOME/data/oss_perception/sample/t4_dataset/sample_dataset",
         "-l",
-        "$HOME/out/perception/latest/sample/f72e1065-7c38-40fe-a4e2-c5bbe6ff6443/perception_eval_log"
+        "$HOME/out/oss_perception/latest/sample/sample_dataset/perception_eval_log"
       ]
     },
     {
@@ -37,9 +37,9 @@
       "console": "integratedTerminal",
       "args": [
         "-r",
-        "$HOME/out/perception/latest/sample",
+        "$HOME/out/oss_perception_database/latest/sample",
         "-s",
-        "$HOME/data/perception/sample/scenario.yaml"
+        "$HOME/data/oss_perception_database/sample/scenario.yaml"
       ]
     },
     {
@@ -50,26 +50,13 @@
       "console": "integratedTerminal",
       "args": [
         "-p",
-        "$HOME/out/obstacle_segmentation/latest/sample/63800729-18d2-4383-91e9-fea7bad384f4/frame.pkl",
+        "$HOME/out/oss_obstacle_segmentation/latest/sample/sample_dataset/result_archive/scene_result.pkl",
         "-s",
-        "$HOME/data/obstacle_segmentation/sample/scenario.yaml",
+        "$HOME/data/oss_obstacle_segmentation/sample/scenario.yaml",
         "-d",
-        "$HOME/data/obstacle_segmentation/sample/t4_dataset/63800729-18d2-4383-91e9-fea7bad384f4",
+        "$HOME/data/oss_obstacle_segmentation/sample/t4_dataset/sample_dataset",
         "-l",
-        "$HOME/out/obstacle_segmentation/latest/sample/63800729-18d2-4383-91e9-fea7bad384f4/perception_eval_log"
-      ]
-    },
-    {
-      "name": "obstacle_segementation_analyzer",
-      "type": "python",
-      "request": "launch",
-      "program": "driving_log_replayer/driving_log_replayer/obstacle_segmentation_analyzer.py",
-      "console": "integratedTerminal",
-      "args": [
-        "-i",
-        "$HOME/out/obstacle_segmentation/latest/sample/63800729-18d2-4383-91e9-fea7bad384f4/result.jsonl",
-        "-v",
-        "gsm8"
+        "$HOME/out/oss_obstacle_segmentation/latest/sample/sample_dataset/perception_eval_log"
       ]
     }
   ]

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -28,6 +28,7 @@
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${env:HOME}/ros_ws/awf/install/autoware_auto_perception_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/autoware_auto_vehicle_msgs/local/lib/python3.10/dist-packages",
+    "${env:HOME}/ros_ws/awf/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_planning_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/perception_eval/local/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/ros2_numpy/local/lib/python3.10/dist-packages",
@@ -37,12 +38,14 @@
     "${env:HOME}/ros_ws/awf/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_api_msgs/local/lib/python3.10/dist-packages",
-    "${env:HOME}/ros_ws/awf/install/tier4_perception_msgs/local/lib/python3.10/dist-packages"
+    "${env:HOME}/ros_ws/awf/install/tier4_perception_msgs/local/lib/python3.10/dist-packages",
+    "${env:HOME}/ros_ws/awf/install/lanelet2_extension_python/local/lib/python3.10/dist-packages"
   ],
   "python.analysis.extraPaths": [
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${env:HOME}/ros_ws/awf/install/autoware_auto_perception_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/autoware_auto_vehicle_msgs/local/lib/python3.10/dist-packages",
+    "${env:HOME}/ros_ws/awf/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_planning_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/perception_eval/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/ros2_numpy/local/lib/python3.10/dist-packages",
@@ -52,7 +55,8 @@
     "${env:HOME}/ros_ws/awf/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
     "${env:HOME}/ros_ws/awf/install/tier4_api_msgs/local/lib/python3.10/dist-packages",
-    "${env:HOME}/ros_ws/awf/install/tier4_perception_msgs/local/lib/python3.10/dist-packages"
+    "${env:HOME}/ros_ws/awf/install/tier4_perception_msgs/local/lib/python3.10/dist-packages",
+    "${env:HOME}/ros_ws/awf/install/lanelet2_extension_python/local/lib/python3.10/dist-packages"
   ],
   "files.associations": {
     "cctype": "cpp",

diff --git a/README.md b/README.md
@@ -42,6 +42,52 @@ pipx upgrade driving_log_replayer_cli
 pipx uninstall driving_log_replayer_cli
 ```
 
+### Shell Completion
+
+Execute the following command so that you can complete the command in the shell.
+
+#### bash
+
+```shell
+_DLR_COMPLETE=bash_source dlr > $HOME/.dlr-complete.bash
+_DLR_COMPLETE=bash_source dlr > $HOME/.dlr-analyzer-complete.bash
+
+echo "source $HOME/.dlr-complete.bash" >> ~/.bashrc
+echo "source $HOME/.dlr-analyzer-complete.bash" >> ~/.bashrc
+```
+
+#### fish
+
+```shell
+_DLR_COMPLETE=fish_source dlr > $HOME/.config/fish/completions/dlr.fish
+_DLR_ANALYZER_COMPLETE=fish_source dlr-analyzer > $HOME/.config/fish/completions/dlr-analyzer.fish
+```
+
 ## Usage
 
 refer [document](https://tier4.github.io/driving_log_replayer/)
+
+## (For Developer) Release Process
+
+This package uses `catkin_pkg` to manage releases.
+
+Refer [this page](https://wiki.ros.org/bloom/Tutorials/ReleaseCatkinPackage)
+
+### Release command
+
+Can only be executed by users with repository maintainer privileges
+
+```shell
+# create change log
+catkin_generate_changelog
+# edit CHANGELOG.rst
+# update package version in pyproject.toml
+# edit ReleaseNotes.md
+# commit and create pull request
+# merge pull request
+catkin_prepare_release
+# When you type the command, it automatically updates CHANGELOG.rst and creates a git tag
+git checkout main
+git merge develop
+git push origin main
+```
diff --git a/REFACTOR.md b/REFACTOR.md
@@ -2,3 +2,5 @@
 
 - [] frameをsetしてからwriteするまで更新される可能性がある。コピーを渡すほうがいいかも
 - [] frameを渡したら、set_frameを自動でやって書き込みまで自動にしたい。resultにwriterをもたせる。
+- [] gtestでobstacle_segmentationのcppノードもテストする
+- [] result.jsonlもpydantic.BaseModelでフォーマットガチガチにしてmodel_dump()->dict->json_dump->strの流れのほうがいいかも